Use callable instead of c-style callbacks

bang-olufsen · Feb 21, 2022 · d754a1c · d754a1c
1 parent f13095a
commit d754a1c
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Showing 2 changed files with 13 additions and 11 deletions.
diff --git a/cpp/PID.cpp b/cpp/PID.cpp
@@ -68,7 +68,7 @@
  * @param (*pidOutput) The function pointer for delivering system output.
  */
 template <class T>
-PIDController<T>::PIDController(double p, double i, double d, T (*pidSource)(), void (*pidOutput)(T output))
+PIDController<T>::PIDController(double p, double i, double d, std::function<T(void)> pidSource, std::function<void(T output)> pidOutput)
 {
   _p = p;
   _i = i;
@@ -644,7 +644,7 @@ double PIDController<T>::getD()
  * @param (*getFeedback) A function pointer that retrieves system feedback.
  */
 template <class T>
-void PIDController<T>::setPIDSource(T (*pidSource)())
+void PIDController<T>::setPIDSource(std::function<T(void)> pidSource)
 {
   _pidSource = pidSource;
 }
@@ -666,7 +666,7 @@ void PIDController<T>::setPIDSource(T (*pidSource)())
  * @param (*onUpdate) A function pointer that delivers system output.
  */
 template <class T>
-void PIDController<T>::setPIDOutput(void (*pidOutput)(T output))
+void PIDController<T>::setPIDOutput(std::function<void(T output)> pidOutput)
 {
   _pidOutput = pidOutput;
 }
@@ -685,7 +685,7 @@ void PIDController<T>::setPIDOutput(void (*pidOutput)(T output))
  * @param (*getSystemTime) Pointer to a function that returns system time.
  */
 template <class T>
-void PIDController<T>::registerTimeFunction(unsigned long (*getSystemTime)())
+void PIDController<T>::registerTimeFunction(std::function<unsigned long(void)> getSystemTime)
 {
   _getSystemTime = getSystemTime;
   timeFunctionRegistered = true;

diff --git a/cpp/PID.h b/cpp/PID.h
@@ -2,11 +2,13 @@
 #define PID_H
 #endif
 
+#include <functional>
+
 template <class T>
 class PIDController
 {
 public:
-  PIDController(double p, double i, double d, T (*pidSource)(), void (*pidOutput)(T output));
+  PIDController(double p, double i, double d, std::function<T(void)> pidSource, std::function<void(T output)> pidOutput);
   void tick();
   void setTarget(T t);
   T getTarget();
@@ -45,9 +47,9 @@ class PIDController
   double getP();
   double getI();
   double getD();
-  void setPIDSource(T (*pidSource)());
-  void setPIDOutput(void (*pidOutput)(T output));
-  void registerTimeFunction(unsigned long (*getSystemTime)());
+  void setPIDSource(std::function<T(void)> pidSource);
+  void setPIDOutput(std::function<void(T output)> pidOutput);
+  void registerTimeFunction(std::function<unsigned long(void)> getSystemTime);
 private:
   double _p;
   double _i;
@@ -76,7 +78,7 @@ class PIDController
   T feedbackWrapUpperBound;
 
   bool timeFunctionRegistered;
-  T (*_pidSource)();
-  void (*_pidOutput)(T output);
-  unsigned long (*_getSystemTime)();
+  std::function<T(void)> _pidSource;
+  std::function<void(T output)> _pidOutput;
+  std::function<unsigned long(void)> _getSystemTime;
 };